Design of a High Precision Multichannel 3D Bioprinter

Three-dimensional(3D)printing technology is expected to solve the organ shortage problem.However,owing to the accuracy limitations,it is difficult for the current bioprinting technology to achieve an accurate control of the spatial position and distribution of a single cell or single component droplet.In this study,to accurately achieve the directional deposition of different cells and biological materials in the spatial position for the construction of large transplantable tissues and organs,a high-precision multichannel 3D bioprinter with submicron-level motion accuracy is designed,and concurrent and synergistic printing methods are proposed.Based on the high-precision motion characteristics of the gantry structure and the requirements of concurrent and synergistic printing,a 3D bioprint-ing system with a set of 6 channels is designed to achieve six-in-one printing.Based on the Visual C++environ-ment,a control system software that integrates the programmable multi-axis controller(PMAC)motion,pneumatic,and temperature control subsystems was developed and designed.Finally,based on measurements and experiments,the 3D bioprinter and its control system was verified to fulfil the requirements of multichannel,concurrent,and syn-ergistic printing with submicron-level motion accuracy,significantly shortening the printing time and improving the printing efficiency.This study not only provides an equipment basis for printing complex heterogeneous tissue structures,but also improves the flexibility and functionality of bioprinting,and ultimately makes the construction of complex multicellular tissues or organs possible.

Positioning-control Based on Trapezoidal Velocity Curve for High-precision Basis Weight Control Valve

Traditionally, basis weight control valve is driven by a constant frequency pulse signal. Therefore, it is difficult for the valve to match the control precision of basis weight. Dynamic simulation research using Matlab/Simulink indicates that there is much more overshoot and fluctuating during the valve-positioning process. In order to improve the valve-positioning precision, the control method of trapezoidal velocity curve was studied. The simulation result showed that the positioning steady-state error was less than 0.0056%, whereas the peak error was less than 0.016% by using trapezoidal velocity curve at 10 positioning steps. A valve-positioning precision experimental device for the stepper motor of basis weight control valve was developed. The experiment results showed that the error ratio of 1/10000 positioning steps was 4% by using trapezoidal velocity curve. Furthermore, the error ratio of 10/10000 positioning steps was 0.5%. It proved that the valve-positioning precision of trapezoidal velocity curve was much higher than that of the constant frequency pulse signal control strategy. The new control method of trapezoidal velocity curve can satisfy the precision requirement of 10000 steps.

Combined centralized and decentralized control for high-precision spacecraft

The improved structural filter combined with Positive Position Feedback(PPF) controller is investigated for high-precision attitude control of flexible spacecraft which consists of rigid central body and flexible appendages.PPF controller is adopted for high frequency vibration suppression,while the improved structural filter is used for suppression of low frequency vibration.After introducing PPF controller,the vibration frequencies are changed.In view of the frequency uncertainties,an improved structural filter is designed,and the stability study for the centralized control system is conducted.The simulation results show that the performance of spacecraft control system is improved,and the control inputs remain unchanged.

Trajectory Planning of High Precision Collaborative Robots

In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.

A research of arc welding inverter with high stable precision

This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and dynamic characteristics and stability of power supply system. And it can decrease the spatters in the welding process apparently. This power supply is especially suitable to automatic robot welding assembly line. It will be the developing direction of robot welding supply in the future.

Fully Integrated Machine Control for Ultra Precision Machining

To meet the demands for highly advanced components with ultra precise contour accuracy and optical surface quality arising in the fields of photonics and optics, automotive, medical applications and biotechnology, consumer electronics and renewable energy, more advanced production machines and processes have to be developed. As the complexity of machine tools rises steadily, the automation of manufacture increases rapidly, processes become more integrated and cycle times have to be reduced significantly, challenges of engineering efficient machine tools with respect to these demands expand every day. Especially the manufacture of freeform geometries with non-continuous and asymmetric surfaces requires advanced diamond machining strategies involving highly dynamic axes movements with a high bandwidth and position accuracy. Ultra precision lathes additionally equipped with Slow Tool and Fast Tool systems can be regarded as state-of-the-art machines achieving the objectives of high quality optical components. The mechanical design of such ultra precision machine tools as well as the mechanical integration of additional highly dynamic axes are very well understood today. In contrast to that, neither advanced control strategies for ultra precision machining nor the control integration of additional Fast Tool systems have been sufficiently developed yet. Considering a complex machine setup as a mechatronic system, it becomes obvious that enhancements to further increase the achievable form accuracy and surface quality and at the same time decrease cycle times and error sensitivity can only be accomplished by innovative, integrated control systems. At the Fraunhofer Institute for Production Technology IPT a novel, fully integrated control approach has been developed to overcome the drawbacks of state-of-the-art machine controls for ultra precision processes. Current control systems are often realized as decentralized solutions consisting of various computational hardware components for setpoint generation, machine control, HMI （human machine interface）, Slow Tool control and Fast Tool control. While implementing such a distributed control strategy, many disadvantages arise in terms of complex communication interfaces, discontinuous safety structures, synchronization of cycle times and the machining accuracy as a whole. The novel control approach has been developed as a fully integrated machine control including standard CNC （computer numerical control） and PLC （programmable logic controller） functionality, advanced setpoint generation methods, an extended HMI as well as an FPGA （field programmable gate array）-based controller for a voice coil driven Slow Tool and a piezo driven Fast Tool axis. As the new control system has been implemented as a fully integrated platform using digital communication via EtherCAT, a continuous safety strategy could be realized, the error sensitivity and EMC susceptibility could be significantly decreased and the overall process accuracy from setpoint generation over path interpolation to axes movements could be enhanced. The novel control at the same time offers additional possibilities of automation, process integration, online data acquisition and evaluation as well as error compensation methods.

断层斜交岩质高边坡开挖变形特征及其治理效果评价--以陕南地区某岩质高边坡为例

为厘清断层斜交岩质高边坡开挖变形特性以及边坡治理后的时变特性,以陕南地区某断层斜交岩质高边坡为例,综合采用现场调查、数值模拟以及多点位移监测等方法分析断层斜交岩质高边坡破坏机制,归纳了断层斜交岩质高边坡的主要致灾因子,分析了边坡开挖过程中的变形特性,并探讨了边坡治理的时效性。结果表明:研究区域地形陡峭,受断层和坡脚开挖影响呈现出典型临空地形地貌,且受地质构造影响,出露岩体破碎程度较高,节理裂隙发育;基于数值仿真论证了断层斜交岩质高边坡采用“上部锚索锁固+中部坡体刷方+下部锚索和抗滑桩加固”方案治理的可行性,现场调查和监测数据结果表明边坡治理效果明显;断层处流土溶蚀效应明显,强降雨诱发岩质高边坡后缘断层附近平台发生塌陷,在断层和坡脚部位增设排水措施后坡体病害得到有效缓解,整体变形速率得到有效控制。研究成果对断层斜交岩质高边坡的治理及破坏机制分析具有参考意义。

基于轨迹修正的曲面抛光机器人终端滑模导纳控制

针对传统抛光机器人力控制算法在位置内环控制上稳定性差的问题,同时为减小力/位控制算法相互切换导致的抛光轨迹误差,提出一种基于轨迹修正的终端滑模导纳控制方法。在抛光过程中,将力传感器反馈的参数与期望力的差值作用于导纳模型产生位置修正量,设计了终端滑模控制模型作为位置内环控制环节,并通过实时反馈位置修正量进行轨迹跟踪。通过实际轨迹信息修正规划轨迹来减小抛光力误差,达到高精度抛光的效果。仿真实验表明,终端滑模导纳控制效果良好,在对轨迹进行修正后抛光力误差相对于修正前有明显改善。利用该模型抛光后表明,轮廓算数平均偏差达到0.035μm,抛光质量得到明显提高。

桩端岩溶三维超声成像方法及应用研究

研究目的:岩溶地区大直径桩基础受桩端岩溶的威胁大,探查不清或处理不当时可能会出现桩基承载力不足等严重工程质量问题,现有探测方法难以在桩底复杂泥水环境下实现桩端三维精细化探测。本文基于超声相控阵全聚焦成像原理,提出一种全新的桩端岩溶三维探测方法,以实现对桩端一定范围内地质结构进行三维高精度成像。研究结论:(1)本方法和装备在桩底采集超声数据并成像,可对桩端一定深度和冲切角范围内岩溶三维高精度成像;(2)足尺模型试验表明本装备可探测桩端10 m以内溶洞且探测精度优于0.1 m;(3)工程实践表明本装备可有效查明桩端岩溶、破碎裂隙,探测结果准确可靠;(4)本装备能适应桩底各种恶劣的环境,探测过程简单高效,时效性强,对保障岩溶区桩基施工安全与质量控制具有重要的意义。

千特斯拉级内爆磁压缩装置初始磁场电源系统研制

初始磁场电源系统用于激励千特斯拉级内爆磁压缩装置的初级线圈产生初始磁场,是内爆磁压缩装置的关键设备。在分析千特斯拉级内爆磁压缩装置初始磁场电源需求和技术难点的基础上,系统设计了核心部件选择方案和主脉冲电路及控制系统结构,研制成功一套输出电压1~40 kV可调、主放电电流脉冲上升沿约60μs、总峰值电流达3.2 MA的初始磁场电源系统,已应用于千特斯拉级内爆磁压缩装置动态试验。

应用于半导体激光器的高精度温控系统设计

面向半导体激光器温控系统的高精度、高速与高集成化的需求,设计了一款高精度、快速响应、高集成化、低成本的数模混合架构温控系统。该系统以FPGA为控制核心,硬件部分包括由三线制惠斯通电桥、仪表放大器、模数转换器组成的温度信号采集与调理模块,全桥降压电路驱动模块,热电制冷器模块等。针对热敏电阻和电桥的非线性误差,提出了一种可变控温零点的温度信号调理方法,该方法基于迭代与多目标最优化算法,提高了控温精度,同时降低了仪表放大器与模数转换器的指标要求,从而降低了系统成本。针对温度滞后大、延迟高的特点,控温策略采用了抗饱和积分的PID(AWPID)自动控制方法,从而降低超调,加快收敛速度。测试结果表明,该温控系统在-45~75℃的温度范围内,实现了±0.02℃的控温精度,相较于固定控温零点的温控系统最大0.1951℃的控温精度提高了89.7%。与传统PID控制算法相比,AWPID控制算法将超调从9.13%降低到1.5%,将稳定时间从41 s降低到30 s。稳定性测试表明,该温控系统能够在长时间内保持±0.02℃的控温精度,满足稳定性要求。该系统具有高精度、快速响应、高集成化、低成本的特点,为半导体激光器的复杂应用场景提供了高精度的温度保障。

基于高精度地图的智能网联技术师资培训探究——以《交通管理与控制》为例

在智能化、网联化的大环境下,随着相关政策落地和人才市场的需求,导致高校教师理论和实践技能遇到新的挑战,因此交通智能技术领域的教育教学改革也将成为必然的趋势。据此,文章首先简要介绍了基于高精度地图的智能网联技术的发展现状,随后围绕该新型技术对人才的需求探讨了该专业教学领域师资现状以及存在的问题,最后结合交通工程专业核心课程《交通管理与控制》对教师队伍的建设和培训给予了建议和意见,为更好地构建以高精度地图为基础的智能网联技术专业师资队伍提供借鉴。

大直径桩端岩溶三维高精度成像方法

在岩溶地区,大直径桩基础受桩端岩溶的威胁较大,传统的钻探和物探等手段难以实现桩端岩溶三维精细探测。该文提出了一种基于超声成像原理的桩端岩溶探测方法,使用超声相控阵传感器在桩底采集全矩阵数据,采用全聚焦方法可对桩端岩溶成像。为解决超声远场成像横向分辨率低的问题,在桩底多个测点采集全矩阵数据,采用多面阵合成孔径全聚焦技术进行远场成像,实现桩端大范围、大深度、高精度成像。制作1:1足尺桩基岩溶实验模型并开展了探测实验,证实了该方法的有效性,并结合工程实例检验了该方法的实用性。结果表明,该方法可以对桩端10 m深度范围内的岩溶进行三维高精度成像,探测分辨率达0.1 m。该方法为大直径桩端岩溶提供了一种全新的、有效的探测技术和手段,对保障岩溶区桩基施工安全与质量控制具有重要的意义。

基于ADRC的高精度红外热成像仪温度控制系统设计

为了可以更加精准地控制红外热成像仪温度,设计一种基于ADRC的高精度红外热成像仪温度控制系统;由系统供电模块、探测器驱动模块、模数转换模块、视距估算模块、视频信号处理模块、外部存储模块、以太网传输模块和温度控制模块组成温度控制系统;利用自抗扰控制设计一种单轴控制器,将由时延带来的不确定性建模作为系统综合扰动的一部分,对扩张状态观测器以及总和扰动展开估计,同时在前馈通道对其展开补偿,消除时延对控制器产生的影响,将控制器应用于红外热成像仪温度控制中,获取高精度的红外热成像仪温度控制结果;通过实验分析证明,设计系统的帧频、响应波段、启动时间、供电范围和功耗测试结果分别为55 Hz、11μm、3.4 s、12 VDC和0.56 W,具有良好的红外热成像仪温度控制性能,可以满足提取高质量的红外图像的要求。

煤矿氧气检测高精度VCSEL驱动及温控电路设计

为解决当前常用煤矿氧气检测仪器易受交叉气体干扰且功耗大的问题,基于GD32F303RCT6微控制器和ADN8834热电冷却控制器,设计了一种软启动开关电路控制的垂直腔面发射激光器(Vertical-cavity Surface-emitting Laser,VCSEL)高精度驱动及温控电路。驱动电路中,高频正弦波信号和低频锯齿波信号叠加的二进制数据由微控制器产生,经信号发生电路、电压电流转换电路转化成VCSEL高精度驱动电流信号;温控电路中,设计基于比例积分微分(Proportional Integral Differential,PID)补偿电路和数模转换控制器(Digital to Analog Converter,DAC)目标温度控制电路实现激光器温度自动调节。测试结果表明:驱动电路的电流输出区间为0.680~1.360 mA;锯齿波频率误差小于0.5%,正弦波频率误差小于0.1%;氧气吸收峰扫描精度高达0.07 pm,对应电流扫描精度为0.12μA;温控电路的温度控制精度为±0.012℃。满足了可调谐半导体激光吸收光谱(Tunable Diode Laser Absorption Spectroscopy,TDLAS)煤矿氧气检测应用需求。

复杂曲面机器人磨抛技术研究现状与趋势展望综述

在航空、能源、交通、军工等国家战略领域中,针对复杂曲面零件的自动化、高质量和高效率磨抛需求,对近年来国内外工业机器人磨抛加工关键技术及集成系统的研究和应用进展进行了综述。首先,从复杂曲面机器人磨抛机理及工艺优化、磨抛运动轨迹规划、磨削力控制等方面总结了复杂曲面机器人磨抛技术的研究成果;然后,介绍了国内外机器人磨抛集成系统应用现状;最后,分析了复杂曲面机器人磨抛技术的主要问题以及发展趋势,为该技术的发展提供了重要的指导和方向。研究结果表明:当前该技术存在的主要问题包括磨抛机理不够清晰,数学模型不够准确,复杂曲面机器人磨抛轨迹规划效率不高,磨抛力的控制仍不够精准等;另外,磨抛工艺参数优化、机器人力位混合控制、机器人高精度标定与误差补偿、基于数字孪生的机器人磨抛在线监控、机器人磨抛细分应用场景等方面的研究和实践将极大地推动机器人磨抛技术的发展和应用。

基于SINUMERIK 808D数控系统的第三方伺服主轴控制

随着“中国智造”时代的到来,我国企业对制造装备的要求不断提高,对现有机床进行升级改造无疑是一种经济高效的选择。但数控系统对第三方产品的兼容性一直困扰着机床电气设计人员,为此,以国产加工中心改造为背景,阐述了西门子数控系统SINUMERIK 808D对第三方伺服主轴实现高精度控制的具体方法,以期为解决相关实际工程问题提供指导。

微牛级高精度直流离子推进系统的推力调节特性

为了研究将微型直流离子推力器用于航天器超高精度控制任务的可行性,设计了一个微牛级直流离子推力器并为其配备了碳纳米管中和装置。对推力器进行了实验测试,评估了其在150~490 V电压范围内可实现的推力范围和推力分辨率,并计算了5、25、50μN推力水平下的噪声。在上述电压范围内,使用氙气和氩气作为工质时,推力器的推力范围分别为5.75~50.83μN和5.93~47.63μN,最大推力噪声为0.12μN/√(Hz)和0.05μN/√(Hz)。此外,对碳纳米管中和器进行了性能测试,实现了最大1.22 mA的引出电流,能够满足氙气工况下0~37.37μN、氩气工况下0~16.50μN的束流中和需求。实验结果表明,该推进系统可以用于引力波探测等高精度空间测量任务所需的无拖曳控制,且使用氩气更有利于实现高精度和低噪声的推力输出。

车用铝合金弯曲成形回弹行为研究进展

《中国制造2025》将轻量化列为众多关键行业发展的核心技术和共性技术,提高汽车轻量化能够有效节约油耗、减小排量、减轻对环境的污染,是汽车工业发展的必然趋势。铝合金材料由于其自身质量轻、易加工成型、节能、环保、回收率高等优势,被认为是汽车轻量化的首选材料。在实际应用过程中,为配合整体结构的装配,铝合金材料通常需要弯曲成一定的形状。但是弯曲成形回弹控制问题一直是该领域的研究难点。本文首先从成形方法、几何参数、材料参数、工艺参数等方面入手,将实验探究与有限元模拟相结合,讨论了这些因素对铝合金弯曲成形回弹的影响规律,揭示了这些因素对弯曲回弹的影响机理,为铝合金弯曲成形回弹行为的高精度控制提供了理论基础。另外,本文综述了铝合金弯曲回弹的预测及控制方法,并对铝合金弯曲回弹的现存问题进行总结归纳,有望对铝合金弯曲成形回弹行为的高精度控制提供新思路。

一种基于2 bit阶梯波时间调制的高精度幅度调控方法

本文介绍了一种基于2 bit阶梯波时间调制(step-wave time-modulation,SWTM)的高精度幅度调控方法。首先建立了2 bit SWTM理论模型,分析了阶梯波形对射频信号时间调制的幅度调控精度影响;然后设计了2 bit SWTM电路,进行了高精度幅度调控实验。测试结果表明,在40 MHz信号带宽下,该2 bit SWTM电路实现了0~31.75 dB衰减动态范围的7 bit幅度调控,误差范围小于±(0.1+0.8%AS)dB,均方根误差为0.07 dB。